Powerlifted-PSS is a domain-independent classical lifted planner that uses seed parameters of an action to efficiently identify the applicable actions.
This code uses Powerlifted Planner for lifted planning. The majority of the code is reproduced from their repository with required alterations to accomodate for the parameter seeds.
The powerlifted.py script solves a PDDL task provided as input.
Example usage:
$ python ./powerlifted.py -d ./dev/domains/blocks/domain.pddl -i ./dev/domains/blocks/probBLOCKS-4-0.pddl -s astar -e ff -g yannakakis --state sparse --use-parameter-seed --build
Here, --use-parameter-seed is an optional parameter. When provided, the script would obtain the parameter seeds for each lifted action and use that information to generate successor states. By default, the script solves PDDL task without using the parameter seed information. Currently, the --use-parameter-seed flag is only supported for yannakakis generator.
For additional information on other parameters in the script, please consult the documentation for Powerlifted.
- A C++17-compliant compiler
- CMake 3.9+
- Python 3.5+
- Boost
- Tarski
- Parameter Seed Set
To replicate the results from the main paper, compare the table sizes from the logs. Table sizes are recorded for every state when applicable actions are queried.
For instance,
Table size before join: clear : 1
Table size before join: holding : 1
Table size before join: type@object : 4
Table size before join: type@object : 4
If you build on this code or the ideas of this paper, please use the following citation.
@inproceedings{KokelLKSS23,
title={Action Space Reduction for Planning Domains},
journal={IJCAI},
author={Kokel, Harsha and Lee, Junkyu and Katz, Michael and Srinivas, Kavitha and Sohrabi, Shirin},
year={2023}
}
This code is licensed under the GNU GENERAL PUBLIC LICENSE Version 3 (GPL v 3.0).